// https://github.com/alvesoaj/eFLL

// https://blog.zerokol.com/2012/09/arduinofuzzy-fuzzy-library-for-arduino.html

// wokwi lib eFLL

#include <Fuzzy.h>

Fuzzy *fuzzy = new Fuzzy();                                                       // Instantiating a Fuzzy object

void setup()                                                                      
{                                                                                 
  Serial.begin(9600);                                                             // Set the Serial output
  randomSeed(analogRead(0));                                                      // Set a random seed

  FuzzyInput *distance = new FuzzyInput(1);                                       // Instantiating a FuzzyInput object

  FuzzySet *small = new FuzzySet(0, 20, 20, 40);                                  // Instantiating a FuzzySet object
  distance->addFuzzySet(small);                                                   // Including the FuzzySet into FuzzyInput

  FuzzySet *safe = new FuzzySet(30, 50, 50, 70);
  distance->addFuzzySet(safe);

  FuzzySet *big = new FuzzySet(60, 80, 80, 80);
  distance->addFuzzySet(big);

  fuzzy->addFuzzyInput(distance);                                                 // Including the FuzzyInput into Fuzzy



  FuzzyOutput *speed = new FuzzyOutput(1);                                        // Instantiating a FuzzyOutput objects

  FuzzySet *slow = new FuzzySet(0, 10, 10, 20);                                   // Instantiating a FuzzySet object
  speed->addFuzzySet(slow);                                                       // Including the FuzzySet into FuzzyOutput

  FuzzySet *average = new FuzzySet(10, 20, 30, 40);
  speed->addFuzzySet(average);

  FuzzySet *fast = new FuzzySet(30, 40, 40, 50);
  speed->addFuzzySet(fast);

  fuzzy->addFuzzyOutput(speed);                                                   // Including the FuzzyOutput into Fuzzy



  // Building FuzzyRule "IF distance = small THEN speed = slow"
  FuzzyRuleAntecedent *ifDistanceSmall = new FuzzyRuleAntecedent();               // Instantiating a FuzzyRuleAntecedent objects
  ifDistanceSmall->joinSingle(small);                                             // Creating a FuzzyRuleAntecedent with just a single FuzzySet

  FuzzyRuleConsequent *thenSpeedSlow = new FuzzyRuleConsequent();                 // Instantiating a FuzzyRuleConsequent objects
  thenSpeedSlow->addOutput(slow);                                                 // Including a FuzzySet to this FuzzyRuleConsequent

  FuzzyRule *fuzzyRule01 = new FuzzyRule(1, ifDistanceSmall, thenSpeedSlow);      // Instantiating a FuzzyRule objects
  fuzzy->addFuzzyRule(fuzzyRule01);                                               // Including the FuzzyRule into Fuzzy



  // Building FuzzyRule "IF distance = safe THEN speed = average"
  FuzzyRuleAntecedent *ifDistanceSafe = new FuzzyRuleAntecedent();
  ifDistanceSafe->joinSingle(safe);

  FuzzyRuleConsequent *thenSpeedAverage = new FuzzyRuleConsequent();
  thenSpeedAverage->addOutput(average);

  FuzzyRule *fuzzyRule02 = new FuzzyRule(2, ifDistanceSafe, thenSpeedAverage);
  fuzzy->addFuzzyRule(fuzzyRule02);



  // Building FuzzyRule "IF distance = big THEN speed = high"
  FuzzyRuleAntecedent *ifDistanceBig = new FuzzyRuleAntecedent();
  ifDistanceBig->joinSingle(big);

  FuzzyRuleConsequent *thenSpeedFast = new FuzzyRuleConsequent();
  thenSpeedFast->addOutput(fast);

  FuzzyRule *fuzzyRule03 = new FuzzyRule(3, ifDistanceBig, thenSpeedFast);
  fuzzy->addFuzzyRule(fuzzyRule03);
}                                                                                 

void loop()                                                                       
{                                                                                 
//int input = random(0, 80);                                                      // Getting a random value
  for ( int input = 80; input > -1; input-- ) {
//  Serial.print("\nEntrance: ");                                                   // Printing something
    Serial.print("Distance: ");
    Serial.print(input);
    fuzzy->setInput(1, input);                                                      // Set the random value as an input
    fuzzy->fuzzify();                                                               // Running the Fuzzification
    float output = fuzzy->defuzzify(1);                                             // Running the Defuzzification
//  Serial.print("\tResult: ");                                                   // Printing something
    Serial.print("\tSpeed: ");
    Serial.println(output);
    delay(100);                                                                   // wait 1 second
  }

  while(1){};
}